US20050189143A1 - Multiple antenna system for horizontal directional drilling - Google Patents
Multiple antenna system for horizontal directional drilling Download PDFInfo
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- US20050189143A1 US20050189143A1 US11/068,170 US6817005A US2005189143A1 US 20050189143 A1 US20050189143 A1 US 20050189143A1 US 6817005 A US6817005 A US 6817005A US 2005189143 A1 US2005189143 A1 US 2005189143A1
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- beacon
- receiving assembly
- downhole tool
- assembly
- tool assembly
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/09—Locating or determining the position of objects in boreholes or wells, e.g. the position of an extending arm; Identifying the free or blocked portions of pipes
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/02—Determining slope or direction
- E21B47/022—Determining slope or direction of the borehole, e.g. using geomagnetism
- E21B47/0228—Determining slope or direction of the borehole, e.g. using geomagnetism using electromagnetic energy or detectors therefor
- E21B47/0232—Determining slope or direction of the borehole, e.g. using geomagnetism using electromagnetic energy or detectors therefor at least one of the energy sources or one of the detectors being located on or above the ground surface
Definitions
- the present invention relates to an apparatus and method for locating and tracking horizontal directional boreholes and more particularly, to the use of multiple antennas in the underground system.
- the present invention is directed to a system for use with a horizontal directional drilling machine to monitor a position of a downhole tool assembly.
- the system comprises a downhole tool assembly and a receiving assembly.
- the downhole tool assembly comprises a first beacon adapted to transmit a first electromagnetic signal, and a second beacon spatially separated from the first beacon and adapted to transmit a second electromagnetic signal.
- the receiving assembly comprises a single antenna arrangement and a processor.
- the antenna arrangement comprises three mutually orthogonal antennas, each antenna adapted to detect the signals emanating from the first beacon and the second beacon.
- the processor is adapted to receive the detected signals from the antenna arrangement and to process the detected signals to determine a relative position of the receiving assembly to the downhole tool assembly.
- the present invention is directed to a method for monitoring a position of a downhole tool assembly during a horizontal drilling operation.
- the downhole tool assembly comprises a first beacon and a second beacon both supported by the downhole tool assembly, and the first beacon is adapted to transmit a first locating signal and the second beacon is adapted to transmit a second locating signal.
- the method comprises detecting at a monitoring point the first locating signal transmitted by the first beacon and the second locating signal transmitted by the second beacon, and processing the detected first and second locating signals to determine a relative position of the monitoring point to the first beacon.
- the present invention comprises a method of calibrating a receiving assembly for use with a downhole tool assembly during a horizontal drilling operation.
- the downhole tool assembly comprises a first beacon and a second beacon each adapted to transmit a locating signal.
- the method comprises moving the receiving assembly in a direction parallel to the first beacon and the second beacon, detecting the locating signals transmitted by the first beacon and the second beacon, and determining a constant value k for the first beacon when a strength of the signals received from the first beacon and the second beacon is the same.
- FIG. 1 is a diagrammatic representation of a horizontal directional drilling system having a monitoring system constructed in accordance with the present invention.
- FIG. 2 is a diagrammatic representation of an overhead view of dipole field lines from an electromagnetic transmitter.
- FIG. 3 is a side view of a system built in accordance with the present invention, showing a downhole tool assembly disposed within a borehole and a walkover receiving assembly.
- FIG. 4 is a perspective, partially cut-away view of a walkover receiving assembly constructed in accordance with the present invention.
- FIG. 5 is a diagrammatic side view of the monitoring system in use, showing dipole fields transmitted by the beacons.
- FIG. 6 is a partial perspective view of the monitoring system as the system is calibrated.
- FIG. 7 is an overhead view and representation of the magnetic fields from the system during calibration.
- FIG. 1 illustrates the usefulness of horizontal directional drilling by demonstrating that a borehole 12 can be made without disturbing an above-ground structure, namely a roadway or walkway as denoted by reference numeral 14 .
- a drill string 16 carrying a drill bit 18 is rotationally driven by a rotary drive system 20 .
- monitoring the position of the drill bit 18 is critical to accurate placement of the borehole and subsequently installed utilities.
- the present invention is directed to a system 22 and method for monitoring a downhole tool assembly 24 during a horizontal directional drilling operation.
- the HDD system 10 of the present invention is suitable for near-horizontal subsurface placement of utility services, for example under the roadway 14 , building, river, or other obstacle.
- the monitoring system 22 for use with the HDD system 10 is particularly suited for providing an accurate three-dimensional locate of the downhole tool assembly 24 from any position above ground.
- the locating and monitoring operation with the present monitoring system is advantageous in that it is accomplished in a single operation.
- the present invention also permits the position of the downhole tool assembly 24 to be monitored without requiring an above ground receiving assembly or tracker 26 be placed directly over a transmitter in the downhole tool assembly.
- the present invention eliminates guesswork on the part of the tracker operator and improves accuracy in locating the downhole tool assembly 24 .
- the HDD system 10 comprises the drilling machine 28 operatively connected by the drill string 16 to the downhole tool assembly 24 .
- the downhole tool assembly 24 preferably comprises the drill bit 18 or other directional boring tool, a first beacon 30 and a second beacon 32 .
- the beacons 30 and 32 function to communicate information to the receiving assembly 26 in a manner yet to be described.
- the progression of the borehole 12 along a desired path is facilitated by further communication of information between the receiving assembly 26 and controls for the HDD system 10 .
- the line 34 represents a radio communication connection between the receiving assembly 26 and the drilling machine 28 .
- Use of the drilling machine 28 in a traditional manner may be as disclosed in commonly assigned copending U.S. patent application Ser. No. 10/724,572, the contents of which are incorporated herein by reference.
- the present position of the directional boring tool 18 is determined using the monitoring system 22 comprised of the beacons 30 and 32 and a walkover receiving assembly 26 as to be described herein.
- the first beacon 30 and the second beacon 32 comprise transmitters adapted to transmit an electromagnetic field.
- the beacons 30 and 32 comprise a single dipole antenna adapted to transmit a dipole field, as shown in FIG. 2 .
- the beacons comprise a ferrite rod core antenna although other transmitting mechanisms will work.
- a receiver may be used to determine the location of a single transmitter emitting a dipole field by using the amplitude and phase of the orthogonal components of the dipole field from the transmitter.
- a receiver can locate a transmitter in the fore-aft direction using the amplitude and phase of the transmitter's generated horizontal and vertical field components as measured in the vertical plane normal to the surface and extending through the transmitter axis.
- a receiver can also determine the location of a single transmitter in the left-right directions using the amplitude and phase of the dipole field in the horizontal plane.
- the equations for the dipole field, shown below, cannot be resolved in such a situation.
- first beacon 30 and the second beacon 32 are supported in housings 36 and 38 in a known manner.
- the housings 36 and 38 are connected to the drill bit 18 , with the first beacon 30 proximate the drill bit.
- the second beacon 32 is remote from the drill bit 18 , separated by a known distance from the first beacon.
- the beacons 30 and 32 are shown in separate housings 36 and 38 , one skilled in the art will appreciate two antennas may be disposed in a single beacon or in a single housing.
- the beacons may contain other sensors (not shown) as deemed appropriate, such as pitch, roll, and temperature sensors. Information from other sensors may be communicated from the beacons 30 and 32 in a known manner.
- the frequency transmissions of beacons 30 and 32 will be fixed at distinct and unique frequencies.
- the present invention contemplates that the chosen frequencies be within the range of beacon frequencies suitable for HDD applications, and that their transmissions be sufficiently distinct.
- the beacons 30 and 32 will preferably be positioned in close proximity (less than 10 feet of separation) and transmit to one receiving assembly 26 .
- One skilled in the art will appreciate that increasing the separation of the beacons 30 and 32 will improve depth utility and accuracy.
- use of distinct frequencies and electronics to minimize cross-talk and maximize detection is preferable.
- the lower of the two frequencies may be assigned to forward first beacon 30 .
- the receiving assembly comprises a single antenna arrangement 40 , a processor 42 , and a display 44 .
- the antenna arrangement 40 comprises three mutually orthogonal antennas.
- the antennas are adapted to detect the orthogonal components of the dipole field transmitted by the beacons 30 and 32 .
- the antennas comprise ferrite rod antennas.
- the antennas may comprise circuit boards and could be arranged as a cubic antenna.
- the receiving assembly 26 may further comprise filtering circuits (not shown) appropriate to filter the signals of separate frequencies from the first beacon and the second beacon.
- filtering circuits (not shown) appropriate to filter the signals of separate frequencies from the first beacon and the second beacon.
- appropriate electronics not shown for the amplification of the outputs of the antennas, a multiplexer (not shown), an A/D converter (not shown), batteries (not shown), and other items necessary for system operation.
- the processor 42 within the receiving assembly is operatively connected to the antenna arrangement 40 and the filtering circuits.
- the processor 42 receives the signals detected by the antenna arrangement 40 .
- the processor 42 determines the position of the receiving assembly 26 relative to the downhole tool assembly 24 .
- the information contained in the multiple dipole fields allows the processor 42 to accurately locate the beacons 30 and 32 in 3-dimensional space.
- Use of the antenna arrangement 40 and two beacons 30 and 32 provides that three distinguishable orthogonal components of a magnetic field are available at any receiver assembly 26 position. Thus, when the receiver assembly 26 is directly above the first beacon 30 , such that the y component of the field from the first beacon cannot be resolved, all three orthogonal components of the field from the second beacon 32 are still available.
- the display 44 of the receiving assembly 26 can indicate the positional information determined by the processor 42 .
- positional information of the downhole tool assembly can be communicated to the display 44 of the receiving assembly.
- the receiving assembly 26 can, for example, indicate the distance from the receiving assembly to the downhole tool assembly 24 , the lateral offset of the receiving assembly from the downhole tool assembly, or other appropriate information.
- the lateral offset of the receiving assembly 26 may be indicated by providing a distance from the receiving assembly to the downhole tool assembly 24 and a direction to a point or position directly above the downhole tool assembly. Consequently, the information can be displayed in a form that allows the user to understand the precise location of the downhole tool assembly 24 relative to the receiving assembly 26 .
- the discussion of the preferred embodiment above involves a determination of the location of the first beacon 30 because of its close proximity in the downhole tool assembly 24 to the drill bit 18 .
- the resulting position determinations can be further manipulated based on physical relationships, to indicate the positions of any or all of the first beacon 30 , the second beacon 32 , and the drilling bit 18 .
- the measurements and positional determinations are based on certain assumptions that can otherwise be accounted for. For example, in the preferred embodiment described above, the receiving assembly 26 is assumed to be pointed in the same direction as the downhole tool assembly 24 .
- the pitch of the downhole tool assembly 24 is such that the receiving assembly 26 is not parallel to and pointed in the same direction as the first beacon 30 and the second beacon 32 , measurements from one or more pitch sensors in the downhole tool assembly can be factored into the positional relationship determinations.
- the present invention also contemplates a method for calibrating the antenna arrangement 40 of the receiving assembly 26 to the beacons 30 and 32 in the downhole tool assembly 24 . Calibration is necessary in order to identify an appropriate constant k i (for each of the beacons) for the equations above. When the constant k i has been determined for each beacon 30 and 32 , the constant will remain useful for the beacon so long as the power output of the beacon remains substantially constant. For those purposes, the output of the beacons 30 and 32 may be regulated in a known manner.
- the process of calibration requires that the downhole tool assembly 24 , and more preferably the beacons 30 and 32 , be placed in the configuration in which they will be used during the boring operation.
- the beacons 30 and 32 will be appropriately powered and transmitting the electromagnetic fields at their respective frequencies.
- the calibration may be accomplished either prior to drilling or during drilling with the downhole tool assembly 24 in the ground.
- the receiving assembly 26 and the antenna arrangement 40 will be pointed in a direction substantially similar to a direction in which the beacons 30 and 32 of the downhole tool assembly 24 are pointed.
- the downhole tool assembly 24 may be placed on a substantially horizontal surface of the ground as shown in FIG. 6 .
- the receiving assembly 26 and the antenna arrangement 40 are positioned parallel to and in the same horizontal plane as the downhole tool assembly 24 , also as shown in FIG. 6 . Such an arrangement is preferable such that the x-axis coordinate component (as shown in FIG. 7 ) is maintained at 0. If, however, the antenna arrangement 40 is not able to be maintained in the same horizontal plane as the downhole tool assembly 24 , the equations can be appropriately manipulated with pitch information obtained from sensors in the downhole tool assembly.
- the receiving assembly 26 will be held approximately the same distance from the downhole tool assembly 24 as the beacons 30 and 32 are separated (denoted by ⁇ as shown in FIG. 7 ). The side on which the receiving assembly is maintained is also not important.
- the receiving assembly 26 is then moved parallel to and in the same horizontal plane (along the z-axis as shown in FIG. 7 ) as the first beacon 30 and the second beacon 32 of the downhole tool assembly 24 .
- the antenna arrangement 40 detects a strength of the signals received from the first beacon and the second beacon in that configuration.
- will necessarily be true.
- the processor 42 of the receiving assembly 26 can be programmed to indicate movement of the receiving assembly is to stop. The processor will then determine the constant k i using the strength of the signals received from the first beacon and the second beacon and the distance between the first beacon and the second beacon in accordance with the following equations.
- the constants k i can be determined using the equation for the y or z component of the fields.
- the procedure for calibration as described herein may also be accomplished while the downhole tool assembly is below ground, during a boring operation.
- the receiving assembly 26 may be moved along the drill string 16 and the downhole tool assembly 24 , with the receiving assembly maintained in a vertical plane containing the first beacon and the second beacon, directly above the downhole tool assembly. That relationship would ensure the y-axis coordinate be maintained at 0.
- the receiving assembly 26 would again be stopped when the signal strength ratio
- holds true.
- the system equations can then be solved for the constant ki.
- the receiving assembly 26 can be programmed for calibration during a boring operation if the receiving assembly is not directly above the first beacon 30 or the second beacon 32 . Where the receiving assembly is not directly above the first beacon 30 or the second beacon 32 , the values z ⁇ 0 and z ⁇ 0. In such a case, the six equations for the component fields can be solved for the five unknown variables, x, y, z, k f and k r . The constants k f and k r can then be determined using the signal strengths and the distance between the beacons 30 and 32 .
Abstract
Description
- This application claims priority of U.S. Provisional Patent Application Ser. No. 60/548,052, filed Feb. 26, 2004, and U.S. Provisional Patent Application Ser. No. 60/568,062, filed May 4, 2004.
- The present invention relates to an apparatus and method for locating and tracking horizontal directional boreholes and more particularly, to the use of multiple antennas in the underground system.
- The present invention is directed to a system for use with a horizontal directional drilling machine to monitor a position of a downhole tool assembly. The system comprises a downhole tool assembly and a receiving assembly. The downhole tool assembly comprises a first beacon adapted to transmit a first electromagnetic signal, and a second beacon spatially separated from the first beacon and adapted to transmit a second electromagnetic signal. The receiving assembly comprises a single antenna arrangement and a processor. The antenna arrangement comprises three mutually orthogonal antennas, each antenna adapted to detect the signals emanating from the first beacon and the second beacon. The processor is adapted to receive the detected signals from the antenna arrangement and to process the detected signals to determine a relative position of the receiving assembly to the downhole tool assembly.
- In another aspect the present invention is directed to a method for monitoring a position of a downhole tool assembly during a horizontal drilling operation. The downhole tool assembly comprises a first beacon and a second beacon both supported by the downhole tool assembly, and the first beacon is adapted to transmit a first locating signal and the second beacon is adapted to transmit a second locating signal. The method comprises detecting at a monitoring point the first locating signal transmitted by the first beacon and the second locating signal transmitted by the second beacon, and processing the detected first and second locating signals to determine a relative position of the monitoring point to the first beacon.
- In yet another aspect, the present invention comprises a method of calibrating a receiving assembly for use with a downhole tool assembly during a horizontal drilling operation. The downhole tool assembly comprises a first beacon and a second beacon each adapted to transmit a locating signal. The method comprises moving the receiving assembly in a direction parallel to the first beacon and the second beacon, detecting the locating signals transmitted by the first beacon and the second beacon, and determining a constant value k for the first beacon when a strength of the signals received from the first beacon and the second beacon is the same.
-
FIG. 1 is a diagrammatic representation of a horizontal directional drilling system having a monitoring system constructed in accordance with the present invention. -
FIG. 2 is a diagrammatic representation of an overhead view of dipole field lines from an electromagnetic transmitter. -
FIG. 3 is a side view of a system built in accordance with the present invention, showing a downhole tool assembly disposed within a borehole and a walkover receiving assembly. -
FIG. 4 is a perspective, partially cut-away view of a walkover receiving assembly constructed in accordance with the present invention. -
FIG. 5 is a diagrammatic side view of the monitoring system in use, showing dipole fields transmitted by the beacons. -
FIG. 6 is a partial perspective view of the monitoring system as the system is calibrated. -
FIG. 7 is an overhead view and representation of the magnetic fields from the system during calibration. - Turning now to the drawings in general and
FIG. 1 in particular, there is shown therein a horizontal directional drilling (“HDD”)system 10 constructed in accordance with the present invention.FIG. 1 illustrates the usefulness of horizontal directional drilling by demonstrating that aborehole 12 can be made without disturbing an above-ground structure, namely a roadway or walkway as denoted byreference numeral 14. To cut or drill theborehole 12, adrill string 16 carrying adrill bit 18 is rotationally driven by arotary drive system 20. When theHDD system 10 is used for drilling aborehole 12, monitoring the position of thedrill bit 18 is critical to accurate placement of the borehole and subsequently installed utilities. The present invention is directed to asystem 22 and method for monitoring adownhole tool assembly 24 during a horizontal directional drilling operation. - The
HDD system 10 of the present invention is suitable for near-horizontal subsurface placement of utility services, for example under theroadway 14, building, river, or other obstacle. Themonitoring system 22 for use with theHDD system 10 is particularly suited for providing an accurate three-dimensional locate of thedownhole tool assembly 24 from any position above ground. The locating and monitoring operation with the present monitoring system is advantageous in that it is accomplished in a single operation. The present invention also permits the position of thedownhole tool assembly 24 to be monitored without requiring an above ground receiving assembly ortracker 26 be placed directly over a transmitter in the downhole tool assembly. The present invention eliminates guesswork on the part of the tracker operator and improves accuracy in locating thedownhole tool assembly 24. These and other advantages associated with the present invention will become apparent from the following description of the preferred embodiments. - With continued reference to
FIG. 1 , theHDD system 10 comprises thedrilling machine 28 operatively connected by thedrill string 16 to thedownhole tool assembly 24. Thedownhole tool assembly 24 preferably comprises thedrill bit 18 or other directional boring tool, afirst beacon 30 and asecond beacon 32. Thebeacons receiving assembly 26 in a manner yet to be described. The progression of theborehole 12 along a desired path is facilitated by further communication of information between the receivingassembly 26 and controls for theHDD system 10. Theline 34 represents a radio communication connection between thereceiving assembly 26 and thedrilling machine 28. Use of thedrilling machine 28 in a traditional manner may be as disclosed in commonly assigned copending U.S. patent application Ser. No. 10/724,572, the contents of which are incorporated herein by reference. - In accordance with the present invention, the present position of the
directional boring tool 18 is determined using themonitoring system 22 comprised of thebeacons walkover receiving assembly 26 as to be described herein. Preferably, thefirst beacon 30 and thesecond beacon 32 comprise transmitters adapted to transmit an electromagnetic field. More preferably, thebeacons FIG. 2 . Most preferably, the beacons comprise a ferrite rod core antenna although other transmitting mechanisms will work. - As is known in the art, a receiver may be used to determine the location of a single transmitter emitting a dipole field by using the amplitude and phase of the orthogonal components of the dipole field from the transmitter. One skilled in the art will appreciate a receiver can locate a transmitter in the fore-aft direction using the amplitude and phase of the transmitter's generated horizontal and vertical field components as measured in the vertical plane normal to the surface and extending through the transmitter axis. A receiver can also determine the location of a single transmitter in the left-right directions using the amplitude and phase of the dipole field in the horizontal plane. However, the left-right determination can only be used either in front of or behind the transmitter because when the receiver is directly above the transmitter (such that z=0), there is no y component to the dipole field. The equations for the dipole field, shown below, cannot be resolved in such a situation.
- With reference now to
FIG. 3 , there is shown therein themonitoring system 22 constructed in accordance with the present invention. In the preferred embodiment,first beacon 30 and thesecond beacon 32 are supported inhousings housings drill bit 18, with thefirst beacon 30 proximate the drill bit. Thesecond beacon 32 is remote from thedrill bit 18, separated by a known distance from the first beacon. Although thebeacons separate housings beacons - Preferably, the frequency transmissions of
beacons beacons assembly 26. One skilled in the art will appreciate that increasing the separation of thebeacons first beacon 30. - Turning now to
FIG. 4 , shown therein is a receivingassembly 26 for use with the monitoring system of the present invention. The receiving assembly comprises asingle antenna arrangement 40, aprocessor 42, and adisplay 44. Preferably, theantenna arrangement 40 comprises three mutually orthogonal antennas. The antennas are adapted to detect the orthogonal components of the dipole field transmitted by thebeacons - The receiving
assembly 26 may further comprise filtering circuits (not shown) appropriate to filter the signals of separate frequencies from the first beacon and the second beacon. One skilled in the art will also appreciate the use of appropriate electronics (not shown) for the amplification of the outputs of the antennas, a multiplexer (not shown), an A/D converter (not shown), batteries (not shown), and other items necessary for system operation. - The
processor 42 within the receiving assembly is operatively connected to theantenna arrangement 40 and the filtering circuits. Theprocessor 42 receives the signals detected by theantenna arrangement 40. Theprocessor 42 then determines the position of the receivingassembly 26 relative to thedownhole tool assembly 24. The information contained in the multiple dipole fields allows theprocessor 42 to accurately locate thebeacons antenna arrangement 40 and twobeacons receiver assembly 26 position. Thus, when thereceiver assembly 26 is directly above thefirst beacon 30, such that the y component of the field from the first beacon cannot be resolved, all three orthogonal components of the field from thesecond beacon 32 are still available. - With the two
separate beacons -
- where the subscript f denotes the
first beacon 30 and the subscript r denotes thesecond beacon 32, a distance Δ behind the first beacon. The physical relationships of thebeacons assembly 26 are shown by example inFIG. 5 . These equations can alternatively be written as six equations with three unknowns:
- where the subscript f denotes the
- If z≠0 and z−Δ≠0, then all six equations can be used to solve for x, y, and z. If z=0, a condition existing when the receiving assembly is directly above the
first beacon 30, then Bf,x=Bf,y=0 and we are left with four usable equations. Also, if z−Δ=0, then Br,x=Br,y=0 and we are left with four equations. However, the only unknowns are x, y, and z. One skilled in the art will appreciate that these equations are solvable in a number of ways. This allows the fore-aft and left-right locations to be determined even with the receivingassembly 26 directly over thefirst beacon 30, or thesecond beacon 32. - With reference again to
FIG. 4 , thedisplay 44 of the receivingassembly 26 can indicate the positional information determined by theprocessor 42. When the coordinate position for a monitoring point of the receivingassembly 26 relative to thedownhole tool assembly 24 has been determined, positional information of the downhole tool assembly can be communicated to thedisplay 44 of the receiving assembly. The receivingassembly 26 can, for example, indicate the distance from the receiving assembly to thedownhole tool assembly 24, the lateral offset of the receiving assembly from the downhole tool assembly, or other appropriate information. The lateral offset of the receivingassembly 26 may be indicated by providing a distance from the receiving assembly to thedownhole tool assembly 24 and a direction to a point or position directly above the downhole tool assembly. Consequently, the information can be displayed in a form that allows the user to understand the precise location of thedownhole tool assembly 24 relative to the receivingassembly 26. - One skilled in the art will appreciate that the discussion of the preferred embodiment above involves a determination of the location of the
first beacon 30 because of its close proximity in thedownhole tool assembly 24 to thedrill bit 18. The resulting position determinations can be further manipulated based on physical relationships, to indicate the positions of any or all of thefirst beacon 30, thesecond beacon 32, and thedrilling bit 18. Furthermore, the measurements and positional determinations are based on certain assumptions that can otherwise be accounted for. For example, in the preferred embodiment described above, the receivingassembly 26 is assumed to be pointed in the same direction as thedownhole tool assembly 24. However, if the pitch of thedownhole tool assembly 24 is such that the receivingassembly 26 is not parallel to and pointed in the same direction as thefirst beacon 30 and thesecond beacon 32, measurements from one or more pitch sensors in the downhole tool assembly can be factored into the positional relationship determinations. - The present invention also contemplates a method for calibrating the
antenna arrangement 40 of the receivingassembly 26 to thebeacons downhole tool assembly 24. Calibration is necessary in order to identify an appropriate constant ki (for each of the beacons) for the equations above. When the constant ki has been determined for eachbeacon beacons - The process of calibration requires that the
downhole tool assembly 24, and more preferably thebeacons beacons - The calibration may be accomplished either prior to drilling or during drilling with the
downhole tool assembly 24 in the ground. Preferably, the receivingassembly 26 and theantenna arrangement 40 will be pointed in a direction substantially similar to a direction in which thebeacons downhole tool assembly 24 are pointed. In the preferred embodiment, thedownhole tool assembly 24 may be placed on a substantially horizontal surface of the ground as shown inFIG. 6 . - The receiving
assembly 26 and theantenna arrangement 40 are positioned parallel to and in the same horizontal plane as thedownhole tool assembly 24, also as shown inFIG. 6 . Such an arrangement is preferable such that the x-axis coordinate component (as shown inFIG. 7 ) is maintained at 0. If, however, theantenna arrangement 40 is not able to be maintained in the same horizontal plane as thedownhole tool assembly 24, the equations can be appropriately manipulated with pitch information obtained from sensors in the downhole tool assembly. Preferably, the receivingassembly 26 will be held approximately the same distance from thedownhole tool assembly 24 as thebeacons FIG. 7 ). The side on which the receiving assembly is maintained is also not important. - The receiving
assembly 26 is then moved parallel to and in the same horizontal plane (along the z-axis as shown inFIG. 7 ) as thefirst beacon 30 and thesecond beacon 32 of thedownhole tool assembly 24. Theantenna arrangement 40 detects a strength of the signals received from the first beacon and the second beacon in that configuration. When the position of the receivingassembly 26 along the z-axis is exactly between thefirst beacon 30 and thesecond beacon 32, the signal strength ratio |B1,y/B1,z|=|B2,y/B2,z| will necessarily be true. Theprocessor 42 of the receivingassembly 26 can be programmed to indicate movement of the receiving assembly is to stop. The processor will then determine the constant ki using the strength of the signals received from the first beacon and the second beacon and the distance between the first beacon and the second beacon in accordance with the following equations. - The ratio for the y and z components of the field would be
- The ratio |B1,y/B1,z|=|B2,y/B2,z| will hold true when
- It is known that {square root}{square root over (y2+(−Δ/2)2)}={square root}{square root over (y2+(Δ/2)2)}=r1=r2.
- Using the equation for B1,y/B1,z or B2,y/B2,z above and the quadratic
-
- x, y, and z can solved for as
- x, y, and z can solved for as
- The constants ki can be determined using the equation for the y or z component of the fields.
- One skilled in the art will appreciate that the procedure for calibration as described herein may also be accomplished while the downhole tool assembly is below ground, during a boring operation. In such a case, the receiving
assembly 26 may be moved along thedrill string 16 and thedownhole tool assembly 24, with the receiving assembly maintained in a vertical plane containing the first beacon and the second beacon, directly above the downhole tool assembly. That relationship would ensure the y-axis coordinate be maintained at 0. The receivingassembly 26 would again be stopped when the signal strength ratio |B1,x/B1,z|=|B2,x/B2,z| holds true. The system equations can then be solved for the constant ki. - Additionally, the receiving
assembly 26 can be programmed for calibration during a boring operation if the receiving assembly is not directly above thefirst beacon 30 or thesecond beacon 32. Where the receiving assembly is not directly above thefirst beacon 30 or thesecond beacon 32, the values z≠0 and z−Δ≠0. In such a case, the six equations for the component fields can be solved for the five unknown variables, x, y, z, kf and kr. The constants kf and kr can then be determined using the signal strengths and the distance between thebeacons - It is clear that the present invention is well adapted to attain the ends and advantages mentioned as well as those inherent therein. While the presently preferred embodiments of the invention have been described for purposes of this disclosure, it will be understood that numerous changes may be made in the combination and arrangement of the various parts, elements and procedures described herein without departing from the spirit and scope of the invention as defined in the following claims.
Claims (25)
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Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
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US20050023036A1 (en) * | 2003-06-17 | 2005-02-03 | Cole Scott B. | System and method for tracking and communicating with a boring tool |
US20070035306A1 (en) * | 2005-08-10 | 2007-02-15 | Baker Hughes Incorporated | Method and apparatus for enhancing formation resistivity images obtained with downhole galvanic tools |
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